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Income Taxes - Schedule of effective income tax rate reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Income tax benefit computed at federal statutory tax rate	$ (18,332)	$ (21,409)
Change in valuation allowance	21,347	24,713
General business credits	(4,392)	(4,883)
Stock compensation	486	602
Change in uncertain tax position	878	977
Other	13	0
Income tax benefit	$ 0	$ 0

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Effective Income Tax Rate Reconciliation, Nondeductible Expense, Deduction Limitation Under Section 162 (m)

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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